YASKAWA SERVOPACK Sigma 7S Series Supplementary Manual page 30

2.1 Anti-Resonance Control Adjustment
2.1.6 Suppressing Different Vibration Frequencies with Anti-resonance Control
Required Parameter Settings
The following parameter settings are required to use anti-resonance control for more than one
vibration frequency.
Pn160
Pn161
Pn162
Pn163
Pn164
Pn165
Pn166
Adjustment Procedure for Suppressing Different Vibration
Frequencies with Anti-resonance Control
Use the following procedure to make adjustments to suppress different vibration frequencies
with anti-resonance control.
Step
1
2
3
4
2-6
Parameter

n. 0
Do not use anti-resonance control.
(default setting)

n. 1 Use anti-resonance control.
Anti-Resonance Frequency
Setting Range Setting Unit
10 to 20,000
Anti-Resonance Gain Correction
Setting Range Setting Unit
1 to 1,000
Anti-Resonance Damping Gain
Setting Range Setting Unit
0 to 300
Anti-Resonance Filter Time Constant 1 Correction
Setting Range Setting Unit
-1,000 to 1,000
Anti-Resonance Filter Time Constant 2 Correction
Setting Range Setting Unit
-1,000 to 1,000
Anti-Resonance Damping Gain 2
Setting Range Setting Unit
0 to 1,000
Adjust the gain and anti-resonance control with the procedure on page 2-3.
If there is vibration at a higher frequency than the vibration suppressed with anti-resonance
control in step 1, adjust Pn166 (Anti-Resonance Damping Gain 2).
Adjust Pn166 (Anti-Resonance Damping Gain 2) while checking to see if vibration reduction is
effective.
To adjust Pn166 (Anti-Resonance Damping Gain 2), increase the setting by 10% at a time start-
ing from the value that resulted in Pn163 (Anti-Resonance Damping Gain) from the adjustment
in step 1.
If the vibration disappears, the adjustment is completed.
However, if the vibration does not disappear even when you adjust Pn166 (Anti-Resonance
Damping Gain 2), reduce the tuning level or feedback level until vibration does not occur.
Description
Default Setting
0.1 Hz 1000
Default Setting
1% 100
Default Setting
1% 0
Default Setting
0.01 ms 0
Default Setting
0.01 ms 0
Default Setting
1% 0
Operation
When Classifi-
Enabled cation
After
Setup
restart
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning
Speed Position Torque
When Enabled Classification
Immediately Tuning